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enable CAN on H7 (#2393) 

* enable

* guard correctly

* h7 bit timing

* allow longer frames

* allow data smaller than maximum

* mcu temperature

* typo

* tx message

* testing

* check for CAN or FDCAN

* don't need that any more

* h7 bitrate config

* undo testing

* h7-ify msg tx

* comment

* break out SID/EID macros

* guard differently

* update ChibiOS

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2021-03-09 15:54:01 -08:00 committed by GitHub
parent 3b6d5e9b24
commit 40c4238f13
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
14 changed files with 95 additions and 25 deletions
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2
firmware/ChibiOS

@ -1 +1 @@
Subproject commit 6b0f623d023ed984c586f8979c10bbf11807e121
Subproject commit 948b015c9c491295d088d0db4b209b3a37b1a524

3
firmware/config/stm32h7ems/efifeatures.h
View File

@ -11,9 +11,6 @@
#undef EFI_MC33816
#define EFI_MC33816 FALSE
#undef EFI_CAN_SUPPORT
#define EFI_CAN_SUPPORT FALSE
#undef EFI_CJ125
#define EFI_CJ125 FALSE

2
firmware/controllers/bench_test.cpp
View File

@ -257,7 +257,7 @@ private:
}
if (widebandUpdatePending) {
#if EFI_WIDEBAND_FIRMWARE_UPDATE && HAL_USE_CAN
#if EFI_WIDEBAND_FIRMWARE_UPDATE && EFI_CAN_SUPPORT
updateWidebandFirmware(logger);
#endif
widebandUpdatePending = false;

9
firmware/controllers/can/can.h
View File

@ -35,3 +35,12 @@ public:
CanWrite();
void PeriodicTask(efitime_t nowNt) override;
};
// We need these helpers because the frame layout is different on STM32H7
#ifdef STM32H7XX
#define CAN_SID(f) ((f).std.SID)
#define CAN_EID(f) ((f).ext.EID)
#else
#define CAN_SID(f) ((f).SID)
#define CAN_EID(f) ((f).EID)
#endif

10
firmware/controllers/can/can_rx.cpp
View File

@ -64,7 +64,7 @@ bool acceptCanRx(int sid DECLARE_ENGINE_PARAMETER_SUFFIX) {
* this build-in CAN sniffer is very basic but that's our CAN sniffer
*/
static void printPacket(const CANRxFrame &rx, Logging *logger) {
bool accept = acceptCanRx(rx.SID);
bool accept = acceptCanRx(CAN_SID(rx));
if (!accept) {
return;
}
@ -72,8 +72,8 @@ static void printPacket(const CANRxFrame &rx, Logging *logger) {
// only print info if we're in can debug mode
// internet people use both hex and decimal to discuss packed IDs, for usability it's better to print both right here
scheduleMsg(logger, "CAN_rx %x %d %x, %x %x %x %x %x %x %x %x", rx.SID,
rx.SID, rx.DLC, rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
scheduleMsg(logger, "CAN_rx %x %d %x, %x %x %x %x %x %x %x %x", CAN_SID(rx),
CAN_SID(rx), rx.DLC, rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
rx.data8[4], rx.data8[5], rx.data8[6], rx.data8[7]);
}
@ -108,7 +108,7 @@ void processCanRxMessage(const CANRxFrame &frame, Logging *logger,
processCanRxVss(frame, nowNt);
#if EFI_CANBUS_SLAVE
if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
if (CAN_EID(frame) == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
int16_t mapScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);
canMap = mapScaled / (1.0 * PACK_MULT_PRESSURE);
} else
@ -119,7 +119,7 @@ void processCanRxMessage(const CANRxFrame &frame, Logging *logger,
#if EFI_WIDEBAND_FIRMWARE_UPDATE
// Bootloader acks with address 0x727573 aka ascii "rus"
if (frame.EID == 0x727573) {
if (CAN_EID(frame) == 0x727573) {
handleWidebandBootloaderAck();
}
#endif

2
firmware/controllers/can/can_vss.cpp
View File

@ -82,7 +82,7 @@ void processCanRxVss(const CANRxFrame& frame, efitick_t nowNt) {
}
//filter it we need to process the can message or not
if ( frame.SID != filterCanID ) {
if (CAN_SID(frame) != filterCanID ) {
return;
}

3
firmware/controllers/can/obd2.cpp
View File

@ -27,6 +27,7 @@
#include "os_access.h"
#include "engine.h"
#include "obd2.h"
#include "can.h"
#include "can_msg_tx.h"
#include "vehicle_speed.h"
#include "map.h"
@ -195,7 +196,7 @@ static void handleDtcRequest(int numCodes, int *dtcCode) {
#if HAL_USE_CAN
void obdOnCanPacketRx(const CANRxFrame& rx) {
if (rx.SID != OBD_TEST_REQUEST) {
if (CAN_SID(rx) != OBD_TEST_REQUEST) {
return;
}

2
firmware/controllers/can/wideband_bootloader.cpp
View File

@ -1,6 +1,6 @@
#include "global.h"
#if EFI_WIDEBAND_FIRMWARE_UPDATE && HAL_USE_CAN
#if EFI_WIDEBAND_FIRMWARE_UPDATE && EFI_CAN_SUPPORT
#include "ch.h"
#include "can_msg_tx.h"

2
firmware/controllers/sensors/can_sensor.h
View File

@ -32,7 +32,7 @@ public:
void showInfo(Logging* logger, const char* sensorName) const override;
CanSensorBase* processFrame(const CANRxFrame& frame, efitick_t nowNt) {
if (frame.EID == m_eid) {
if (CAN_EID(frame) == m_eid) {
decodeFrame(frame, nowNt);
}

56
firmware/hw_layer/drivers/can/can_hw.cpp
View File

@ -36,7 +36,7 @@ static LoggingWithStorage logger("CAN driver");
// Values below calculated with http://www.bittiming.can-wiki.info/
// Pick ST micro bxCAN
// Clock rate of 42mhz for f4, 54mhz for f7
// Clock rate of 42mhz for f4, 54mhz for f7, 80mhz for h7
#ifdef STM32F4XX
// These have an 85.7% sample point
#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
@ -49,6 +49,21 @@ static LoggingWithStorage logger("CAN driver");
#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#elif defined(STM32H7XX)
// These have an 87.5% sample point
// FDCAN driver has different bit timing registers (yes, different format)
// for the arbitration and data phases
#define CAN_NBTP_100 0x00310C01
#define CAN_DBTP_100 0x00310C13
#define CAN_NBTP_250 0x00130C01
#define CAN_DBTP_250 0x00130C13
#define CAN_NBTP_500 0x00090C01
#define CAN_DBTP_500 0x00090C13
#define CAN_NBTP_1k0 0x00040C01
#define CAN_DBTP_1k0 0x00040C13
#else
#error Please define CAN BTR settings for your MCU!
#endif
@ -62,7 +77,7 @@ static LoggingWithStorage logger("CAN driver");
* 29 bit would be CAN_TI0R_EXID (?) but we do not mention it here
* CAN_TI0R_STID "Standard Identifier or Extended Identifier"? not mentioned as well
*/
#if defined(STM32F4XX) || defined(STM32F7XX)
static const CANConfig canConfig100 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_100 };
@ -78,6 +93,39 @@ CAN_BTR_500 };
static const CANConfig canConfig1000 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_1k0 };
#elif defined(STM32H7XX)
static const CANConfig canConfig100 = {
CAN_NBTP_100,
CAN_DBTP_100,
0, // CCCR
0, // TEST
0,
};
static const CANConfig canConfig250 = {
CAN_NBTP_250,
CAN_DBTP_250,
0, // CCCR
0, // TEST
0,
};
static const CANConfig canConfig500 = {
CAN_NBTP_500,
CAN_DBTP_500,
0, // CCCR
0, // TEST
0,
};
static const CANConfig canConfig1000 = {
CAN_NBTP_1k0,
CAN_DBTP_1k0,
0, // CCCR
0, // TEST
0,
};
#endif
static const CANConfig *canConfig = &canConfig500;
@ -212,6 +260,8 @@ void initCan(void) {
break;
}
startCanPins();
// Initialize hardware
#if STM32_CAN_USE_CAN2
// CAN1 is required for CAN2
@ -236,8 +286,6 @@ void initCan(void) {
if (CONFIG(canReadEnabled)) {
canRead.Start();
}
startCanPins();
}
#endif /* EFI_CAN_SUPPORT */

19
firmware/hw_layer/drivers/can/can_msg_tx.cpp
View File

@ -11,6 +11,7 @@
#include "global.h"
#if EFI_CAN_SUPPORT
#include "can.h"
#include "can_msg_tx.h"
#include "engine_configuration.h"
@ -27,10 +28,24 @@ extern int canWriteNotOk;
}
CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
#ifndef STM32H7XX
// ST bxCAN device
m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD;
m_frame.EID = eid;
m_frame.RTR = CAN_RTR_DATA;
#else /* if STM32H7XX */
// Bosch M_CAN FDCAN device
m_frame.common.XTD = isExtended;
m_frame.common.RTR = 0;
#endif
if (isExtended) {
CAN_EID(m_frame) = eid;
} else {
CAN_SID(m_frame) = eid;
}
m_frame.DLC = dlc;
memset(m_frame.data8, 0, sizeof(m_frame.data8));
}
@ -43,7 +58,7 @@ CanTxMessage::~CanTxMessage() {
}
if (CONFIG(debugMode) == DBG_CAN) {
scheduleMsg(&sharedLogger, "Sending CAN message: SID %x/%x %x %x %x %x %x %x %x %x", m_frame.SID, m_frame.DLC,
scheduleMsg(&sharedLogger, "Sending CAN message: SID %x/%x %x %x %x %x %x %x %x %x", CAN_SID(m_frame), m_frame.DLC,
m_frame.data8[0], m_frame.data8[1],
m_frame.data8[2], m_frame.data8[3],
m_frame.data8[4], m_frame.data8[5],

4
firmware/hw_layer/drivers/can/can_msg_tx.h
View File

@ -74,11 +74,11 @@ template <typename TData>
class CanTxTyped final : public CanTxMessage
{
#if EFI_CAN_SUPPORT
static_assert(sizeof(TData) == sizeof(CANTxFrame::data8));
static_assert(sizeof(TData) <= sizeof(CANTxFrame::data8));
#endif // EFI_CAN_SUPPORT
public:
explicit CanTxTyped(uint32_t eid) : CanTxMessage(eid) { }
explicit CanTxTyped(uint32_t eid) : CanTxMessage(eid, sizeof(TData)) { }
#if EFI_CAN_SUPPORT
/**

4
firmware/hw_layer/ports/stm32/stm32_common.cpp
View File

@ -774,11 +774,11 @@ bool isValidCanRxPin(brain_pin_e pin) {
}
CANDriver * detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx) {
#if STM32_CAN_USE_CAN1
#if STM32_CAN_USE_CAN1 || STM32_CAN_USE_FDCAN1
if (isValidCan1RxPin(pinRx) && isValidCan1TxPin(pinTx))
return &CAND1;
#endif
#if STM32_CAN_USE_CAN2
#if STM32_CAN_USE_CAN2 || STM32_CAN_USE_FDCAN2
if (isValidCan2RxPin(pinRx) && isValidCan2TxPin(pinTx))
return &CAND2;
#endif

2
firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
View File

@ -239,7 +239,7 @@
/*
* CAN driver system settings.
*/
#define STM32_CAN_USE_FDCAN1 FALSE
#define STM32_CAN_USE_FDCAN1 TRUE
#define STM32_CAN_USE_FDCAN2 FALSE
/*